cmake_minimum_required(VERSION 2.8.3)
project(hector_mapping)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp nav_msgs visualization_msgs tf message_filters laser_geometry tf_conversions message_generation)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS thread signals)
include_directories(${Boost_INCLUDE_DIRS})

# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
find_package(Eigen3)
if(NOT EIGEN3_FOUND)
  # Fallback to cmake_modules
  find_package(cmake_modules REQUIRED)
  find_package(Eigen REQUIRED)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
  # Possibly map additional variables to the EIGEN3_ prefix.
else()
  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  HectorDebugInfo.msg
  HectorIterData.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES hector_mapping
  CATKIN_DEPENDS roscpp nav_msgs visualization_msgs tf message_filters laser_geometry tf_conversions message_runtime
  DEPENDS EIGEN3
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include include/hector_slam_lib)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(hector_mapping
#   src/${PROJECT_NAME}/hector_mapping.cpp
# )

## Declare a cpp executable
add_executable(hector_mapping
  src/HectorDebugInfoProvider.h
  src/HectorDrawings.h
  src/HectorMappingRos.h
  src/HectorMappingRos.cpp
  src/main.cpp
  src/PoseInfoContainer.cpp
  src/PoseInfoContainer.h
)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(hector_mapping hector_mapping_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(hector_mapping
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
install(TARGETS hector_mapping
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hector_mapping.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
